Model identification of a micro air vehicle in loitering flight based on attitude performance evaluation

This paper presents a model identification of a micro air vehicle in loitering flight, based on the input-output data collected from flight experiments on a homemade 1-m-sized aircraft. A miniature flight-control system, which consists of the onboard and the ground sections, is equipped with a multi...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:IEEE transactions on robotics Jg. 20; H. 4; S. 702 - 712
Hauptverfasser: Wu, Huaiyu, Sun, Dong, Zhou, Zhaoying
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York, NY IEEE 01.08.2004
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Aircraft
Applied sciences
Attitude control
Channels
Compensation
Computer programs
Computer science; control theory; systems
Computer simulation
Control theory. Systems
Data acquisition
Data analysis
Exact sciences and technology
Frequency domain analysis
Mathematical models
Micro air vehicles
Modelling and identification
Performance analysis
Predictive models
Robotics
Robots
Rolls
Simulation
Spectral analysis
System identification
Time domain analysis
Vehicles
Flight test
Performance evaluation
Exogenous
Transient response
ARX model
Data acquisition
Frequency domain method
Autoregressive model
Flight control
Modeling
Spectral analysis
Transients
Closed feedback
Time domain method
Model matching
Performance analysis
System identification
Roll
Aircraft
Multiple channel
ISSN:1552-3098, 1941-0468
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:This paper presents a model identification of a micro air vehicle in loitering flight, based on the input-output data collected from flight experiments on a homemade 1-m-sized aircraft. A miniature flight-control system, which consists of the onboard and the ground sections, is equipped with a multichannel data logger associated with the data acquisition software. Modeling and performance analysis are carried out, based on the flight-test data using a system identification technique. Two fourth-order autoregressive with exogenous input (ARX) models are identified to present the attitude characteristics of the longitudinal (pitch) and the lateral (roll) control channels, respectively. The validity of the identified model is verified by both time-domain model prediction and frequency-domain spectral analysis. Based on the proposed ARX models, two compensators are further designed using a frequency-domain method, and then added to the closed-loop control systems to improve the transient performance of the pitch- and roll-control channels. Simulations and experiments demonstrate that the flight performance obtained by the proposed ARX model-based compensation control can be improved.
Bibliographie:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ObjectType-Article-2
ObjectType-Feature-1
content type line 23
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2004.829442